I am trying to implement an arbitrary rotation at the origin, such that the axis rotate onto the x,y and z axis.
 
 /**
  * Kyle Wayne Kelly
  * Computer Science Student
  * University of New Orleans
  * 504-391-3985
  * http://www.cs.uno.edu/~kkelly
  * Glory to God!
  * El temor del hombre pondra lazo;
  * Mas el que confia en Jehova sera exaltado. (Proverbios 29:25)
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